Robust reconstruction of the discrete state for a class of nonlinear uncertain switched systems

This paper presents an approach to the robust state reconstruction for a class of nonlinear switched systems affected by model uncertainties. Under the assumption that the continuous state is available for measurement, an approach is presented based on concepts and methodologies derived from the sliding mode control theory. With noisefree state measurements, the time needed for reconstructing the discrete state after a transition can be made arbitrarily small by sufficiently increasing a certain observer tuning parameter. Simulations and experiments, carried out on a three-tank laboratory setup, are presented and commented.